world.urdf

<?xml version="1.0" ?>

<world name="demo_world" gravity="0.0 0.0 -9.81">

	<robot name="WALLE">
		<origin xyz="0 0 0" rpy="0 0 0" />
		<model dir="${PROJECT_FOLDER}/panda" path="panda_arm_spatula.urdf" name="panda" />
	</robot>

	<static_object name="Floor">
		<origin xyz="0.0 0.0 -0.05" rpy="0 0 0" />
		<visual>
			<origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
			<geometry>
				<box size="5.0 5.0 0.1" />
			</geometry>
			<material name="material_blue">
				<color rgba="0.0 0.1 0.5 1.0" />
			</material>
		</visual>
		<collision>
			<origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
			<geometry>
				<box size="5.0 5.0 0.1" />
			</geometry>
		</collision>
	</static_object>

	<static_object name="box1">
		<origin xyz="0.5 0.2 0.01" rpy="0 0 0" />
		<visual>
			<origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
			<geometry>
				<box size="0.02 0.02 0.02" />
			</geometry>
			<material name="material_green">
				<color rgba="0.0 0.5 0.1 1.0" />
			</material>
		</visual>
		<!--<collision>
			<origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
			<geometry>
				<box size="5.0 5.0 0.1" />
			</geometry>
		</collision>-->
	</static_object>

	<static_object name="box2">
		<origin xyz="0.5 0.1 0.01" rpy="0 0 0" />
		<visual>
			<origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
			<geometry>
				<box size="0.02 0.02 0.02" />
			</geometry>
			<material name="material_green">
				<color rgba="0.0 0.5 0.1 1.0" />
			</material>
		</visual>
		<!--<collision>
			<origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
			<geometry>
				<box size="5.0 5.0 0.1" />
			</geometry>
		</collision>-->
	</static_object>

	<light name="light1" type="directional">
		<position xyz="2.0 -2.0 2.0" />
		<lookat xyz="0.0 0.0 0.5" />
	</light>

	<light name="light2" type="directional">
		<position xyz="2.0 2.0 2.0" />
		<lookat xyz="0.0 0.0 0.5" />
	</light>

	<camera name="camera_fixed">
		<position xyz="2.0 0.0 1.0" />
		<vertical xyz="0.0 0.0 1.0" />
		<lookat xyz="0.0 0.0 0.5" />
	</camera>

</world>